// Copyright (c) 2013, Willow Garage, Inc.
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#ifndef RVIZ_DEFAULT_PLUGINS__TOOLS__POINT__POINT_TOOL_HPP_
#define RVIZ_DEFAULT_PLUGINS__TOOLS__POINT__POINT_TOOL_HPP_

#include <OgreVector.h>

#include <QCursor>  // NOLINT cpplint cannot handle the include order here
#include <QObject>  // NOLINT cpplint cannot handle the include order here

#include "geometry_msgs/msg/point_stamped.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/qos.hpp"

#include "rviz_common/tool.hpp"

#include "rviz_default_plugins/visibility_control.hpp"

namespace rviz_common
{
namespace properties
{
class StringProperty;
class BoolProperty;
class QosProfileProperty;
}
}

namespace rviz_default_plugins
{
namespace tools
{

//! The Point Tool allows the user to click on a point which
//! gets published as a PointStamped message.
class RVIZ_DEFAULT_PLUGINS_PUBLIC PointTool : public rviz_common::Tool
{
  Q_OBJECT

public:
  PointTool();

  void onInitialize() override;

  void activate() override;
  void deactivate() override;

  int processMouseEvent(rviz_common::ViewportMouseEvent & event) override;

public Q_SLOTS:
  void updateTopic();
  void updateAutoDeactivate();

protected:
  void publishPosition(const Ogre::Vector3 & position) const;
  void setStatusForPosition(const Ogre::Vector3 & position);

  QCursor std_cursor_;
  QCursor hit_cursor_;
  rclcpp::Publisher<geometry_msgs::msg::PointStamped>::SharedPtr publisher_;
  rclcpp::Clock::SharedPtr clock_;

  rviz_common::properties::StringProperty * topic_property_;
  rviz_common::properties::BoolProperty * auto_deactivate_property_;
  rviz_common::properties::QosProfileProperty * qos_profile_property_;

  rclcpp::QoS qos_profile_;
};

}  // namespace tools
}  // namespace rviz_default_plugins

#endif  // RVIZ_DEFAULT_PLUGINS__TOOLS__POINT__POINT_TOOL_HPP_
